EP0060304A4 - Industrial robbot unit having a current control function for a drive motor. - Google Patents

Industrial robbot unit having a current control function for a drive motor.

Info

Publication number
EP0060304A4
EP0060304A4 EP19810902595 EP81902595A EP0060304A4 EP 0060304 A4 EP0060304 A4 EP 0060304A4 EP 19810902595 EP19810902595 EP 19810902595 EP 81902595 A EP81902595 A EP 81902595A EP 0060304 A4 EP0060304 A4 EP 0060304A4
Authority
EP
European Patent Office
Prior art keywords
unit
drive motor
current control
control function
robbot
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP19810902595
Other languages
German (de)
French (fr)
Other versions
EP0060304A1 (en
Inventor
Hajimu Inaba
Hideo Miyashita
Shoichi Otsuka
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fanuc Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Publication of EP0060304A1 publication Critical patent/EP0060304A1/en
Publication of EP0060304A4 publication Critical patent/EP0060304A4/en
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • G05B19/21—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device
    • G05B19/23—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for point-to-point control
    • G05B19/231—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for point-to-point control the positional error is used to control continuously the servomotor according to its magnitude
    • G05B19/237—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for point-to-point control the positional error is used to control continuously the servomotor according to its magnitude with a combination of feedback covered by G05B19/232 - G05B19/235
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49362—Tool, probe at constant height to surface during machining

Landscapes

  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manufacturing & Machinery (AREA)
  • Control Of Position Or Direction (AREA)
  • Control Of Electric Motors In General (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
  • Control Of Direct Current Motors (AREA)
EP19810902595 1980-09-19 1981-09-18 Industrial robbot unit having a current control function for a drive motor. Pending EP0060304A4 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP55129045A JPS6019801B2 (en) 1980-09-19 1980-09-19 Industrial robot device with drive motor current control function
JP129045/80 1980-09-19

Publications (2)

Publication Number Publication Date
EP0060304A1 EP0060304A1 (en) 1982-09-22
EP0060304A4 true EP0060304A4 (en) 1985-09-18

Family

ID=14999720

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19810902595 Pending EP0060304A4 (en) 1980-09-19 1981-09-18 Industrial robbot unit having a current control function for a drive motor.

Country Status (4)

Country Link
EP (1) EP0060304A4 (en)
JP (1) JPS6019801B2 (en)
KR (1) KR850000489B1 (en)
WO (1) WO1982001090A1 (en)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61157913A (en) * 1984-12-28 1986-07-17 Matsushita Electric Ind Co Ltd Power controller
JPS61170805A (en) * 1985-01-25 1986-08-01 Matsushita Electric Ind Co Ltd Industrial robot
JPS61208513A (en) * 1985-03-14 1986-09-16 Fujitsu Ltd Controller of traveling object
JPS62113212A (en) * 1985-11-12 1987-05-25 San Esu Shoko Co Ltd Digital servo control method
JPS6412309A (en) * 1987-07-06 1989-01-17 Toshiba Corp Robot controller
US5040159A (en) * 1989-03-20 1991-08-13 Hewlett-Packard Company Mechanical sense of touch in a control system
US5057758A (en) * 1989-03-20 1991-10-15 Hewlett-Packard Company Passive payload for a cartridge handling system
JP2010064158A (en) * 2008-09-08 2010-03-25 Yamazaki Mazak Corp Machining equipment

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2988070B2 (en) * 1991-11-06 1999-12-06 富士電機株式会社 Lead wire support structure in earth leakage breaker

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
IBM TECHNICAL DISCLOSURE BULLETIN, vol. 15, no. 10, March 1973, pages 2991-2993, New York, US; J.A. VALENT: "High-performance DC motor servomechanism" *
See also references of WO8201090A1 *

Also Published As

Publication number Publication date
KR830007236A (en) 1983-10-19
EP0060304A1 (en) 1982-09-22
JPS6019801B2 (en) 1985-05-18
KR850000489B1 (en) 1985-04-11
JPS5755413A (en) 1982-04-02
WO1982001090A1 (en) 1982-04-01

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Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 19820514

AK Designated contracting states

Designated state(s): DE FR GB

RAP1 Party data changed (applicant data changed or rights of an application transferred)

Owner name: FANUC LIMITED

17Q First examination report despatched

Effective date: 19870512

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN

RIN1 Information on inventor provided before grant (corrected)

Inventor name: MIYASHITA, HIDEO

Inventor name: OTSUKA, SHOICHI

Inventor name: INABA, HAJIMU